version: 66.12
glider: 35
mission: 22
dive: 51
start: 3 26 114 4 14 3
data:
$ID,35
$MISSION,22
$DIVE,51
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,5000
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,75
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,90
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-993518.19
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2812
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,260314,040833,3227.357,-6432.323,8,8.2,28,-15.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-56.6
$GPS2,260314,041306,3227.450,-6432.284,13,1.2,13,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,3227.450,-6419.486
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.225,-0.095
$KALMAN_X,-58.8,42.2,-12.8,2017.5,202.8
$KALMAN_Y,2668.6,1063.4,422.1,-547.4,343.9
$MHEAD_RNG_PITCHd_Wd,105.5,20000,-19.7,-10.000,-22.22,2235
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.6,239,2092,871,1090,0.0,0.0,0,109,0.00,0.00,-91.10,0.000,16386,0.000,0.000,237,2093,2456,2449,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.76,-146.6,236,2092,2449,2464,3.0,-3.6,9,130,10.88,2.22,-1.90,0.000,19204,0.273,0.065,2788,3486,2497,2490,2505,0,0,0,0,0,0,25.34,25.98,25.89
$GC,294,-0.52,-146.6,2788,3504,2489,2501,25.9,-11.4,27,304,0.35,2.10,0.00,0.000,3078,0.196,0.055,2883,2084,2494,2488,2501,0,0,0,0,0,0,25.51,26.16,28.83
$GC,604,-0.42,-146.6,2882,2081,2486,2501,48.2,-6.1,58,614,0.12,2.17,0.00,0.000,2308,0.194,0.070,2911,3500,2493,2486,2501,0,0,0,0,0,0,26.08,26.13,28.83
$GC,636,-0.36,-146.6,2911,3500,2486,2502,51.8,-10.6,61,645,0.00,2.05,0.00,0.000,1030,0.000,0.052,2912,2100,2493,2486,2501,0,0,0,0,0,0,28.83,26.28,28.83
$GC,949,-0.36,-146.6,2911,2097,2486,2501,80.5,-7.9,92,957,0.00,2.12,0.00,0.000,260,0.000,0.070,2902,3495,2494,2486,2502,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1185,-0.36,-146.6,2901,3495,2486,2501,103.2,-9.8,115,1191,0.00,2.05,0.00,0.000,1030,0.000,0.052,2901,2092,2493,2486,2501,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1492,-0.36,-146.6,2901,2092,2485,2502,126.0,-4.8,146,1496,0.00,2.05,0.00,0.000,516,0.000,0.065,2902,713,2493,2485,2501,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1727,-0.31,-146.6,2901,713,2484,2502,141.2,-6.9,169,1736,0.17,2.03,0.00,0.000,3078,0.179,0.057,2948,2104,2492,2483,2502,0,0,0,0,0,0,25.91,26.31,28.83
$GC,2036,-0.31,-146.6,2948,2104,2483,2501,154.8,-4.6,195,2042,0.00,2.08,0.00,0.000,516,0.000,0.062,2948,705,2492,2483,2501,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,2256,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2256,begin apogee
$GC,2263,-0.19,0.0,2944,2100,2483,2502,167.4,-5.5,206,2366,0.15,0.00,99.07,0.931,10246,0.181,0.000,2990,2100,2000,1970,2030,0,0,0,0,0,0,26.09,28.83,24.34
$STATE,2367,end apogee,CONTROL_FINISHED_OK
$STATE,2367,begin climb
$GC,2370,0.76,146.6,2990,2100,1970,2031,170.0,0.0,211,2483,0.85,2.30,105.03,0.906,10500,0.137,0.072,3271,3498,1502,1453,1552,0,0,0,0,0,0,25.21,25.11,24.23
$GC,2600,0.95,180.2,3270,3498,1456,1551,152.6,8.5,223,2633,0.17,2.10,25.45,0.894,11270,0.089,0.052,3377,2089,1388,1327,1450,0,0,0,0,0,0,25.84,25.86,24.53
$GC,2931,0.95,180.2,3376,2089,1327,1450,104.5,16.3,255,2940,0.00,2.20,0.00,0.000,260,0.000,0.072,3377,3494,1388,1327,1450,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3105,0.95,180.2,3377,3494,1329,1449,74.7,14.6,272,3113,0.10,2.08,0.00,0.000,5126,0.169,0.052,3355,2104,1389,1329,1449,0,0,0,0,0,0,25.90,26.22,28.83
$GC,3413,0.95,180.2,3354,2102,1329,1449,35.8,15.1,303,3422,0.00,2.17,0.00,0.000,260,0.000,0.072,3354,3500,1389,1329,1449,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,3622,end climb,SURFACE_DEPTH_REACHED
$STATE,3623,begin surface coast
$FINISH,0.9,1.025747
$STATE,3644,end surface coast,CONTROL_FINISHED_OK
$STATE,3644,begin surface
$SM_CCo,3662,87.60,0.824,0,0,983,300.22
$SM_GC,1.23,8.05,2.12,87.60,0.067,0.060,0.824,244,2123,983,-8.71,1.78,300.22,0,0,0,0,0,0,26.15,26.22,24.54
$IRIDIUM_FIX,3218.62,-6436.92,260314,030335
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.07
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,24.2,47.134
$10V_AH,10.5,8.100
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.850,33.925,229.550,87.600,0.000,30.436,20.467,125.232,6.250,0.000,15.973,848.532,1724.346,374.880,1008.644,81.987,33.221,828.923,0.000,785.127,0.000,37.445,0.000
$DEVICE_MAMPS,273.130,72.007,931.125,824.356,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.064,429.998,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,20288,326
$CAP_FILE_SIZE,54684,0
$CFSIZE,260165632,237215744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260314,051745,3227.748,-6431.607,13,2.5,33,-15.5